# DOPD: Dual On-policy Distillation

arXiv: https://arxiv.org/abs/2606.30626 · HTML: https://mlsanity.com/paper/2606.30626/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Placed in On-policy and self-distillation for LLMs, one of 12 directions in Knowledge distillation.
- Builds on 56 of its 58 references that are in the map.
- First posted on arXiv 29 Jun 2026.

## Placed in

- Knowledge distillation / [On-policy and self-distillation for LLMs](https://mlsanity.com/distill/on-policy-and-self-distillation-for-llms/)

## Builds on (most cited first, 30 of 56)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Measuring Mathematical Problem Solving With the MATH Dataset](https://mlsanity.com/paper/2103.03874/) (2021)
- [DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter](https://mlsanity.com/paper/1910.01108/) (2019)
- [DAPO: An Open-Source LLM Reinforcement Learning System at Scale](https://mlsanity.com/paper/2503.14476/) (2025)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [LiveCodeBench: Holistic and Contamination Free Evaluation of Large Language Models for Code](https://mlsanity.com/paper/2403.07974/) (2024)
- [DeepSeek-V4: Towards Highly Efficient Million-Token Context Intelligence](https://mlsanity.com/paper/2606.19348/) (2026)
- [On-Policy Distillation of Language Models: Learning from Self-Generated Mistakes](https://mlsanity.com/paper/2306.13649/) (2023)
- [Are We on the Right Way for Evaluating Large Vision-Language Models?](https://mlsanity.com/paper/2403.20330/) (2024)
- [Sequence-Level Knowledge Distillation](https://mlsanity.com/paper/1606.07947/) (2016)
- [Distilling Step-by-Step! Outperforming Larger Language Models with Less Training Data and Smaller Model Sizes](https://mlsanity.com/paper/2305.02301/) (2023)
- [C-Eval: A Multi-Level Multi-Discipline Chinese Evaluation Suite for Foundation Models](https://mlsanity.com/paper/2305.08322/) (2023)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [Measuring Multimodal Mathematical Reasoning with MATH-Vision Dataset](https://mlsanity.com/paper/2402.14804/) (2024)
- [MMMU-Pro: A More Robust Multi-discipline Multimodal Understanding Benchmark](https://mlsanity.com/paper/2409.02813/) (2024)
- [The Entropy Mechanism of Reinforcement Learning for Reasoning Language Models](https://mlsanity.com/paper/2505.22617/) (2025)
- [Self-Distilled Reasoner: On-Policy Self-Distillation for Large Language Models](https://mlsanity.com/paper/2601.18734/) (2026)
- [Rubrics as Rewards: Reinforcement Learning Beyond Verifiable Domains](https://mlsanity.com/paper/2507.17746/) (2025)
- [Reinforcement Learning via Self-Distillation](https://mlsanity.com/paper/2601.20802/) (2026)
- [Rethinking On-Policy Distillation of Large Language Models: Phenomenology, Mechanism, and Recipe](https://mlsanity.com/paper/2604.13016/) (2026)
- [Self-Distillation Enables Continual Learning](https://mlsanity.com/paper/2601.19897/) (2026)
- [LogicVista: Multimodal LLM Logical Reasoning Benchmark in Visual Contexts](https://mlsanity.com/paper/2407.04973/) (2024)
- [ZebraLogic: On the Scaling Limits of LLMs for Logical Reasoning](https://mlsanity.com/paper/2502.01100/) (2025)
- [MiMo-V2-Flash Technical Report](https://mlsanity.com/paper/2601.02780/) (2026)
- [On-Policy Context Distillation for Language Models](https://mlsanity.com/paper/2602.12275/) (2026)
- [Learning beyond Teacher: Generalized On-Policy Distillation with Reward Extrapolation](https://mlsanity.com/paper/2602.12125/) (2026)
- [Entropy-Aware On-Policy Distillation of Language Models](https://mlsanity.com/paper/2603.07079/) (2026)
- [Skywork Open Reasoner 1 Technical Report](https://mlsanity.com/paper/2505.22312/) (2025)

## Built on by (most cited first, 12 of 12)

- [Latent On-Policy Self-Distillation](https://mlsanity.com/paper/2608.13040/) (2026)
- [Trust Is Not Enough: Influence Calibration for On-Policy Self-Distillation in Agentic RL](https://mlsanity.com/paper/2608.14945/) (2026)
- [Who Teaches Which Token? Verifier-Gated Multi-Expert On-Policy Distillation for Scientific Reasoning](https://mlsanity.com/paper/2609.15404/) (2026)
- [RL Starts before RL: On Policy Distillation for Better Reinforcement Learning](https://mlsanity.com/paper/2609.28145/) (2026)
- [Med-OPD: Improving Medical Vision-Language Models via Evidence-Aware On-Policy Distillation](https://mlsanity.com/paper/2607.16303/) (2026)
- [One Symptom, Three Levers: A Critical Review of On-Policy Self-Distillation](https://mlsanity.com/paper/2608.25936/) (2026)
- [A Shared Learning Rate Is Not a Neutral Control in Selective On-Policy Distillation](https://mlsanity.com/paper/2609.22109/) (2026)
- [Tool-Augmented On-Policy Distillation for LLM Domain Adaptation in Sequence-Based Omics Tasks](https://mlsanity.com/paper/2609.23435/) (2026)
- [MM-OPD: Towards One More Bottleneck Between Perception and Reasoning](https://mlsanity.com/paper/2609.32690/) (2026)
- [Outcome-Guided On-Policy Self-Distillation](https://mlsanity.com/paper/2610.05070/) (2026)
- [Off-Policy Merging Beats On-Policy Self-Distillation for Continual Learning](https://mlsanity.com/paper/2610.05872/) (2026)
- [JoyInside-VLM-Agent: Product-Conditioned Multimodal Policy Learning for Embodied Agents](https://mlsanity.com/paper/2610.12957/) (2026)

## Abstract (arXiv)

On-policy distillation (OPD) offers superior capacity transfer by supervising student-sampled trajectories with dense token-level signals. To furnish high-quality supervision sources and thereby elevate the performance frontier of distillation, an intuitive direction is to infuse privileged information to either teacher or student itself. However, this additional input induces a potential failure mode we dub privilege illusion: a pattern that conflates the transferable capability gap that students are meant to close, and the information asymmetry gap that can only be mimicked but never replicated. This issue is further amplified by the inherent non-uniformity of token-level supervision, where only a small subset of tokens carries pivotal capability-bearing signals. To this end, we propose DOPD, an advantage-aware dual distillation paradigm that dynamically routes token-level supervision between privileged teacher and privileged student policies based on their advantage gap and relative probabilities. Each token receives supervision of different strength, objective, and strategy from either teacher or student itself, which transfers credible capability while simultaneously receiving auxiliary signals, to alleviate privilege illusion. Extensive experiments on both large language model (LLM) and vision-language model (VLM) settings demonstrate that DOPD consistently outperforms Vanilla OPD and other counterparts. Further results on stability, robustness, continual learning, and out-of-distribution tasks validate its superiority.